add mag3110 magnetometer driver

8 years ago · a51c91e5be
5 changed files with 467 additions and 0 deletions
--- a/drivers/Makefile.include
+++ b/drivers/Makefile.include
@ -34,3 +34,6 @@ endif
 ifneq (,$(filter mma8652,$(USEMODULE)))
    USEMODULE_INCLUDES += $(RIOTBASE)/drivers/mma8652/include
 endif
+ifneq (,$(filter mag3110,$(USEMODULE)))
+    USEMODULE_INCLUDES += $(RIOTBASE)/drivers/mag3110/include
+endif
--- a/drivers/include/mag3110.h
+++ b/drivers/include/mag3110.h
@ -0,0 +1,193 @@
+/*
+ * Copyright (C) 2014 PHYTEC Messtechnik GmbH
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @defgroup    drivers_mag3110 MAG3110 3-Axis Digital Magnetometer
+ * @ingroup     drivers
+ * @brief       Driver for the Freescale MAG3110 magnetometer.
+ *              After initialization and set activ the magnetometer
+ *              will make measurements at periodic times.
+ *              The output rate and over sample ratio 
+ *              can be determined by magnetometer initialization.
+ *              The measured values of magnetic field strength and
+ *              die temperature have uncalibrated offsets.
+ *              To get correct measuremend values, the individual 
+ *              offsets must be measured and set accordingly.
+ *
+ * @{
+ *
+ * @file
+ * @brief       Interface definition for the MAG3110 magnetometer driver.
+ *
+ * @author      Johann Fischer <j.fischer@phytec.de>
+ */
+
+#ifndef MAG3110_H
+#define MAG3110_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "periph/i2c.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#ifndef MAG3110_I2C_ADDRESS
+#define MAG3110_I2C_ADDRESS             0x0E /**< Magnetometer Default Address */
+#endif
+
+#define MAG3110_DROS_8000_16		0 /**< Output Rate 80 Hz, Over Sample Ratio 16 */
+#define MAG3110_DROS_4000_32		1 /**< Output Rate 40 Hz, Over Sample Ratio 32 */
+#define MAG3110_DROS_2000_64		2 /**< Output Rate 20 Hz, Over Sample Ratio 64 */
+#define MAG3110_DROS_1000_128		3 /**< Output Rate 10 Hz, Over Sample Ratio 128 */
+#define MAG3110_DROS_4000_16		4 /**< Output Rate 40 Hz, Over Sample Ratio 16 */
+#define MAG3110_DROS_2000_32		5 /**< Output Rate 20 Hz, Over Sample Ratio 32 */
+#define MAG3110_DROS_1000_64		6 /**< Output Rate 10 Hz, Over Sample Ratio 64 */
+#define MAG3110_DROS_0500_128		7 /**< Output Rate 5 Hz, Over Sample Ratio 128 */
+#define MAG3110_DROS_2000_16		8 /**< Output Rate 20 Hz, Over Sample Ratio 16 */
+#define MAG3110_DROS_1000_32		9 /**< Output Rate 10 Hz, Over Sample Ratio 32 */
+#define MAG3110_DROS_0500_64		10 /**< Output Rate 5 Hz, Over Sample Ratio 64 */
+#define MAG3110_DROS_0250_128		11 /**< Output Rate 2.5 Hz, Over Sample Ratio 128 */
+#define MAG3110_DROS_1000_16		12 /**< Output Rate 10 Hz, Over Sample Ratio 16 */
+#define MAG3110_DROS_0500_32		13 /**< Output Rate 5 Hz, Over Sample Ratio 32 */
+#define MAG3110_DROS_0250_64		14 /**< Output Rate 2.5 Hz, Over Sample Ratio 64 */
+#define MAG3110_DROS_0125_128		15 /**< Output Rate 1.25 Hz, Over Sample Ratio 128 */
+#define MAG3110_DROS_0500_16		16 /**< Output Rate 5 Hz, Over Sample Ratio 16 */
+#define MAG3110_DROS_0250_32		17 /**< Output Rate 2.5 Hz, Over Sample Ratio 32 */
+#define MAG3110_DROS_0125_64		18 /**< Output Rate 1.25 Hz, Over Sample Ratio 64 */
+#define MAG3110_DROS_0063_128		19 /**< Output Rate 0.63 Hz, Over Sample Ratio 128 */
+#define MAG3110_DROS_0250_16		20 /**< Output Rate 2.5 Hz, Over Sample Ratio 16 */
+#define MAG3110_DROS_0125_32		21 /**< Output Rate 1.25 Hz, Over Sample Ratio 32 */
+#define MAG3110_DROS_0063_64		22 /**< Output Rate 0.63 Hz, Over Sample Ratio 64 */
+#define MAG3110_DROS_0031_128		23 /**< Output Rate 0.31 Hz, Over Sample Ratio 128 */
+#define MAG3110_DROS_0125_16		24 /**< Output Rate 1.25 Hz, Over Sample Ratio 16 */
+#define MAG3110_DROS_0063_32		25 /**< Output Rate 0.63 Hz, Over Sample Ratio 32 */
+#define MAG3110_DROS_0031_64		26 /**< Output Rate 0.31 Hz, Over Sample Ratio 64 */
+#define MAG3110_DROS_0016_128		27 /**< Output Rate 0.16 Hz, Over Sample Ratio 128 */
+#define MAG3110_DROS_0063_16		28 /**< Output Rate 0.63 Hz, Over Sample Ratio 16 */
+#define MAG3110_DROS_0031_32		29 /**< Output Rate 0.31 Hz, Over Sample Ratio 32 */
+#define MAG3110_DROS_0016_64		30 /**< Output Rate 0.16 Hz, Over Sample Ratio 64 */
+#define MAG3110_DROS_0008_128		31 /**< Output Rate 0.08 Hz, Over Sample Ratio 128 */
+#define MAG3110_DROS_DEFAULT		MAG3110_DROS_0125_128 /**< Default Setting for testing */
+
+/**
+ * @brief Device descriptor for MAG3110 magnetometer.
+ */
+typedef struct {
+    i2c_t i2c;              /**< I2C device, the magnetometer is connected to */
+    uint8_t addr;           /**< the magnetometer's slave address on the I2C bus */
+    bool initialized;       /**< magnetometer status, true if magnetometer is initialized */
+} mag3110_t;
+
+/**
+ * @brief MAG3110 magnetometer test.
+ * This function looks for Device ID of the MAG3110 magnetometer.
+ *
+ * @param[in]  dev          device descriptor of magnetometer
+ *
+ * @return                  0 on success
+ * @return                  -1 on error
+ */
+int mag3110_test(mag3110_t *dev);
+
+/**
+ * @brief Initialise the MAG3110 magnetometer driver.
+ *
+ * @param[out] dev          device descriptor of magnetometer to initialize
+ * @param[in]  i2c          I2C bus the magnetometer is connected to
+ * @param[in]  address      magnetometer's I2C slave address
+ * @param[in]  dros         data rate and over sampling selection
+ *
+ * @return                  0 on success
+ * @return                  -1 if dros parameter is wrong
+ * @return                  -2 if initialization of I2C bus failed
+ * @return                  -3 if magnetometer test failed
+ * @return                  -4 if magnetometer configuration failed
+ */
+int mag3110_init(mag3110_t *dev, i2c_t i2c, uint8_t address, uint8_t dros);
+
+/**
+ * @brief Set user offset correction.
+ * Offset correction register will be erased after accelerometer reset.
+ *
+ * @param[out] dev          device descriptor of magnetometer
+ * @param[in]  x            offset offset correction value for x-axis
+ * @param[in]  y            offset offset correction value for y-axis
+ * @param[in]  z            offset offset correction value for z-axis
+ *
+ * @return                  0 on success
+ * @return                  -1 on error
+ */
+int mag3110_set_user_offset(mag3110_t *dev, int16_t x, int16_t y, int16_t z);
+
+/**
+ * @brief Set active mode, this enables periodic measurements.
+ *
+ * @param[out] dev          device descriptor of magnetometer
+ *
+ * @return                  0 on success
+ * @return                  -1 on error
+ */
+int mag3110_set_active(mag3110_t *dev);
+
+/**
+ * @brief Set standby mode.
+ *
+ * @param[in]  dev          device descriptor of magnetometer
+ *
+ * @return                  0 on success
+ * @return                  -1 on error
+ */
+int mag3110_set_standby(mag3110_t *dev);
+
+/**
+ * @brief Check for new set of measurement data.
+ *
+ * @param[in]  dev          device descriptor of magnetometer
+ *
+ * @return                  >0 if x-, y- and z-axis new sample is ready 
+ * @return                  0 if measurement is in progress 
+ * @return                  -1 on error
+ */
+int mag3110_is_ready(mag3110_t *dev);
+
+/**
+ * @brief Read magnetometer's data.
+ * To get the actual values for the magnetic field in \f$\mu T\f$,
+ * one have to divide the returned values from the magnetometer by 10.
+ *
+ * @param[in]  dev          device descriptor of magnetometer
+ * @param[out] x            x-axis magnetic field strength
+ * @param[out] y            y-axis magnetic field strength
+ * @param[out] z            z-axis magnetic field strength
+ * @param[out] status       magnetometer status register
+ *
+ * @return                  0 on success
+ * @return                  -1 on error
+ */
+int mag3110_read(mag3110_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status);
+
+/**
+ * @brief Read die temperature.
+ *
+ * @param[in]  dev          device descriptor of magnetometer
+ * @param[out] dtemp        die temperature 
+ *
+ * @return                  0 on success
+ * @return                  -1 on error
+ */
+int mag3110_read_dtemp(mag3110_t *dev, int8_t *dtemp);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+/** @} */
--- a/drivers/mag3110/Makefile
+++ b/drivers/mag3110/Makefile
@ -0,0 +1 @@
+include $(RIOTBASE)/Makefile.base
--- a/drivers/mag3110/include/mag3110_reg.h
+++ b/drivers/mag3110/include/mag3110_reg.h
@ -0,0 +1,80 @@
+/*
+ * Copyright (C) 2014 PHYTEC Messtechnik GmbH
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/**
+ * @ingroup     drivers_mag3110
+ * @{
+ *
+ * @file
+ * @brief       Register definition for the MAG3110 magnetometer driver.
+ *
+ * @author      Johann Fischer <j.fischer@phytec.de>
+ *
+ */
+
+#ifndef __MAG3110_REG_H__
+#define __MAG3110_REG_H__
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define MAG3110_DR_STATUS            0x00 /**< Data ready status per axis */
+#define MAG3110_OUT_X_MSB            0x01 /**< Bits [15:8] of X measurement */
+#define MAG3110_OUT_X_LSB            0x02 /**< Bits [7:0] of X measurement */
+#define MAG3110_OUT_Y_MSB            0x03 /**< Bits [15:8] of Y measurement */
+#define MAG3110_OUT_Y_LSB            0x04 /**< Bits [7:0] of Y measurement */
+#define MAG3110_OUT_Z_MSB            0x05 /**< Bits [15:8] of Z measurement */
+#define MAG3110_OUT_Z_LSB            0x06 /**< Bits [7:0] of Z measurement */
+#define MAG3110_WHO_AM_I             0x07 /**< Device Identification Register */
+#define MAG3110_SYSMOD               0x08 /**< FIFO Status Register */
+#define MAG3110_OFF_X_MSB            0x09 /**< Bits [15:8] of user X offset */
+#define MAG3110_OFF_X_LSB            0x0A /**< Bits [7:0] of user X offset */
+#define MAG3110_OFF_Y_MSB            0x0B /**< Bits [15:8] of user Y offset */
+#define MAG3110_OFF_Y_LSB            0x0C /**< Bits [7:0] of user Y offset */
+#define MAG3110_OFF_Z_MSB            0x0D /**< Bits [15:8] of user Z offset */
+#define MAG3110_OFF_Z_LSB            0x0E /**< Bits [7:0] of user Z offset */
+#define MAG3110_DIE_TEMP             0x0F /**< Temperature, signed 8 bits */
+#define MAG3110_CTRL_REG1            0x10 /**< Operation modes */
+#define MAG3110_CTRL_REG2            0x11 /**< Operation modes */
+
+#define MAG3110_DR_STATUS_ZYXOW           (1 << 7)
+#define MAG3110_DR_STATUS_ZOW             (1 << 6)
+#define MAG3110_DR_STATUS_YOW             (1 << 5)
+#define MAG3110_DR_STATUS_XOW             (1 << 4)
+#define MAG3110_DR_STATUS_ZYXDR           (1 << 3)
+#define MAG3110_DR_STATUS_ZDR             (1 << 2)
+#define MAG3110_DR_STATUS_YDR             (1 << 1)
+#define MAG3110_DR_STATUS_XDR             (1 << 0)
+
+#define MAG3110_ID                        0xC4 /**< Device ID */
+
+#define MAG3110_SYSMOD_STANDBY            0
+#define MAG3110_SYSMOD_ACTIVE_RAW         1
+#define MAG3110_SYSMOD_ACTIVE             2
+
+#define MAG3110_CTRL_REG1_DROS_SHIFT      3
+#define MAG3110_CTRL_REG1_DROS_MASK       0xF8
+#define MAG3110_CTRL_REG1_DROS(x)         (((uint8_t)(((uint8_t)(x))<<MAG3110_CTRL_REG1_DROS_SHIFT))\
+                                          &MAG3110_CTRL_REG1_DROS_MASK)
+#define MAG3110_CTRL_REG1_FR              (1 << 2)
+#define MAG3110_CTRL_REG1_TM              (1 << 1)
+#define MAG3110_CTRL_REG1_AC              (1 << 0)
+
+#define MAG3110_CTRL_REG2_AUTO_MRST_EN    (1 << 7)
+#define MAG3110_CTRL_REG2_RAW             (1 << 5)
+#define MAG3110_CTRL_REG2_MAG_RST         (1 << 4)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
+/** @} */
--- a/drivers/mag3110/mag3110.c
+++ b/drivers/mag3110/mag3110.c
@ -0,0 +1,190 @@
+/*
+ * Copyright (C) 2014 PHYTEC Messtechnik GmbH
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ *
+ */
+
+/**
+ * @ingroup     drivers_mag3110
+ * @{
+ *
+ * @file
+ * @brief       Driver for the Freescale MAG3110 magnetometer.
+ *
+ * @author      Johann Fischer <j.fischer@phytec.de>
+ *
+ * @}
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "periph/i2c.h"
+#include "mag3110.h"
+#include "mag3110_reg.h"
+
+#define ENABLE_DEBUG    (0)
+#include "debug.h"
+
+#define I2C_SPEED                  I2C_SPEED_FAST
+
+int mag3110_test(mag3110_t *dev)
+{
+    char reg;
+
+    if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_WHO_AM_I, &reg, 1) != 1) {
+        return -1;
+    }
+
+    if (reg != MAG3110_ID) {
+        return -1;
+    }
+
+    return 0;
+}
+
+int mag3110_init(mag3110_t *dev, i2c_t i2c, uint8_t address, uint8_t dros)
+{
+    char reg;
+
+    /* write device descriptor */
+    dev->i2c = i2c;
+    dev->addr = address;
+    dev->initialized = false;
+
+    if (dros > MAG3110_DROS_0008_128) {
+        return -1;
+    }
+
+    /* initialize the I2C bus */
+    if (i2c_init_master(i2c, I2C_SPEED) < 0) {
+        return -2;
+    }
+
+    if (mag3110_test(dev)) {
+        return -3;
+    }
+
+    /* enable automatic magnetic sensor reset */
+    reg = MAG3110_CTRL_REG2_AUTO_MRST_EN;
+
+    if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG2, &reg, 1) != 1) {
+        return -4;
+    }
+
+    reg = MAG3110_CTRL_REG1_DROS(dros);
+
+    if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
+        return -4;
+    }
+
+    dev->initialized = true;
+
+    return 0;
+}
+
+int mag3110_set_user_offset(mag3110_t *dev, int16_t x, int16_t y, int16_t z)
+{
+    char buf[6];
+
+    buf[0] = (char)(x >> 8);
+    buf[1] = (char)x;
+    buf[2] = (char)(y >> 8);
+    buf[3] = (char)y;
+    buf[4] = (char)(z >> 8);
+    buf[5] = (char)z;
+
+    if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_OFF_X_MSB, buf, 6) != 6) {
+        return -1;
+    }
+
+    return 0;
+}
+
+int mag3110_set_active(mag3110_t *dev)
+{
+    char reg;
+
+    if (dev->initialized == false) {
+        return -1;
+    }
+
+    if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
+        return -1;
+    }
+
+    reg |= MAG3110_CTRL_REG1_AC;
+
+    if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
+        return -1;
+    }
+
+    return 0;
+}
+
+int mag3110_set_standby(mag3110_t *dev)
+{
+    char reg;
+
+    if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
+        return -1;
+    }
+
+    reg &= ~MAG3110_CTRL_REG1_AC;
+
+    if (i2c_write_regs(dev->i2c, dev->addr, MAG3110_CTRL_REG1, &reg, 1) != 1) {
+        return -1;
+    }
+
+    return 0;
+}
+
+int mag3110_is_ready(mag3110_t *dev)
+{
+    char reg;
+
+    if (dev->initialized == false) {
+        return -1;
+    }
+
+    if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DR_STATUS, &reg, 1) != 1) {
+        return -1;
+    }
+
+    return (int)(reg & MAG3110_DR_STATUS_ZYXDR);
+}
+
+int mag3110_read(mag3110_t *dev, int16_t *x, int16_t *y, int16_t *z, uint8_t *status)
+{
+    char buf[7];
+
+    if (dev->initialized == false) {
+        return -1;
+    }
+
+    if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DR_STATUS, buf, 7) != 7) {
+        return -1;
+    }
+
+    *status = buf[0];
+    *x = ((int16_t)buf[1] << 8) | buf[2];
+    *y = ((int16_t)buf[3] << 8) | buf[4];
+    *z = ((int16_t)buf[5] << 8) | buf[6];
+
+    return 0;
+}
+
+int mag3110_read_dtemp(mag3110_t *dev, int8_t *dtemp)
+{
+    if (dev->initialized == false) {
+        return -1;
+    }
+
+    if (i2c_read_regs(dev->i2c, dev->addr, MAG3110_DIE_TEMP, (char *)dtemp, 1) != 1) {
+        return -1;
+    }
+
+    return 0;
+}